Nathanaël Jarrassé, France

ISIR, CNRS - Sorbonne Université

WG1, WG2, WG3 , WG4-member

Main interests:
Physical Human-Robot interaction (pHRi). Prosthetics. Exoskeletons. Rehabilitation robotics. Human sensorimotor control. Body appropriation.

Project involvement:
– (2018-2021) research collaboration with the french exoskeleton company Wandercraft
– (2018-2022) BYCEPS, (BodY-ControllEd robotic ProSthetic for arm amputees) 
– (2016–2019) PhantomovControl, (“Going beyond the limits of myoelectric upper arm prostheses : phantom hand movements for natural control”)
– (2014-2019) ISMES (sensorimotor interface): neurorehabilitation of post-stroke patients with exoskeletons

Main achievements:
– Recognized international expert on the physical coupling of the human body to wearable robotic structures through a formal analysis of overconstraints and the design of passive articulated fixation mechanisms guaranteeing isostaticity in the coupling (IEEE T Robotics 2012)
– First in the study of exoskeletons shared control approaches to modify subjects joints coordination to favour the rehabilitation of healthy upper limb synergies in post-stroke patients (Frontiers Neuroscience 2015, J. Neur 2016).
– First computational framework to specify roles in motor interaction between humans and/or robots and to replicate the role repartition in physical collaborative interaction with optimal control models (PLoS ONE 2013);
– First research study showing the possibility of classifying phantom limb related myoelectric activities in transhumeral amputees without undergoing targeted reinnervation surgery (IEEE TNSRE 2016, Nature Sci. Rep. 2018, Frontiers Bioeng. 2018)

Proietti, T.; Guigon, E.; Roby-Brami, A. & Jarrassé, N. Modifying upper-limb inter-joint coordination in healthy subjects by training with a robotic exoskeleton Journal of NeuroEngineering and Rehabilitation, 2017, 14, 55

Jarrassé, N.; Nicol, C.; Touillet, A.; Richer, F.; Martinet, N.; Paysant, J. & De Graaf, J. Classification of Phantom Finger, Hand, Wrist and Elbow Voluntary Gestures in Transhumeral Amputees with sEMG IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2017, 25, 68-77

Merad, M.; de Montalivet, E.; Touillet, A.; Roby-Brami, A. & Jarrassé, N. Can we achieve intuitive prosthetic elbow control based on healthy upper limb motor? Frontiers in Neurorobotics, Frontiers, 2018, 12, 1

Jarrassé, N. & Morel, G. Connecting a Human Limb to an Exoskeleton. IEEE Transactions on Robotics, 2012, 28, 697-710

Jarrassé, N.; Maestrutti, M.; Morel, G. & Roby-Brami, A. Robotic prosthetics: beyond the technical performance. (A study of socio-anthropological and cultural phenomena influencing the appropriation of technical objects interacting with the body) IEEE Technology and Society Magazine, 2015, 34, 69-77